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<a href="pioneer_8inc.html">浏览该文件的文档.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor"># Desc: Device definitions for Activemedia robots.</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor"></span><span class="preprocessor"># Author: Richard Vaughan, Andrew Howard,  Luis Riazuelo</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor"></span><span class="preprocessor"># Date: 10 Jun 2002</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor"></span><span class="preprocessor"># CVS: $Id: pioneer.inc,v 1.30 2008-01-15 01:25:42 rtv Exp $</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor"></span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor"># The Pioneer2DX sonar array</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor"></span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#  prototype for p2dx sonar sensors</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor"></span>define p2dxsonar sensor</div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;(</div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;  # define the size of each transducer [xsize ysize zsize] in meters</div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;  size [0.01 0.05 0.01 ] </div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;  # define the range bounds [min max]</div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;  range [0 5.0]</div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;    # define the angular field of view in degrees</div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;    fov 15</div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;    # define the number of samples spread over the fov</div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;  samples 1</div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;    # define the color that ranges are drawn in the gui</div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;    color_rgba [ 0 1 0 0.2 ] </div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;)</div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;</div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;define p2dx_sonar ranger</div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;(</div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160; # 16 transducers spread about the robot as follows</div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160; p2dxsonar( pose [ 0.075 0.130 0 90 ] )</div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160; p2dxsonar( pose [ 0.115 0.115 0 50 ] )</div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160; p2dxsonar( pose [ 0.150 0.080 0 30 ] )</div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160; p2dxsonar( pose [ 0.170 0.025 0 10 ] )</div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160; p2dxsonar( pose [ 0.170 -0.025 0 -10 ] )</div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160; p2dxsonar( pose [ 0.150 -0.080 0 -30 ] )</div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160; p2dxsonar( pose [ 0.115 -0.115 0 -50 ] )</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160; p2dxsonar( pose [ 0.075 -0.130 0 -90 ] )</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160; p2dxsonar( pose [ -0.155 -0.130 0 -90 ] )</div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160; p2dxsonar( pose [ -0.195 -0.115 0 -130 ] )</div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160; p2dxsonar( pose [ -0.230 -0.080 0 -150 ] )</div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; p2dxsonar( pose [ -0.250 -0.025 0 -170 ] )</div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; p2dxsonar( pose [ -0.250 0.025 0 170 ] )</div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; p2dxsonar( pose [ -0.230 0.080 0 150 ] )</div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; p2dxsonar( pose [ -0.195 0.115 0 130 ] )</div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; p2dxsonar( pose [ -0.155 0.130 0 90 ]   )</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;)</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;define p2dx_sonar_front ranger</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;(</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; <span class="preprocessor"># 8 transducers spread about the robot as follows</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor"></span>  p2dxsonar( pose [ 0.075 0.130 0 90 ] )</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  p2dxsonar( pose [ 0.115 0.115 0 50 ] )</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  p2dxsonar( pose [ 0.150 0.080 0 30 ] )</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  p2dxsonar( pose [ 0.170 0.025 0 10 ] )</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  p2dxsonar( pose [ 0.170 -0.025 0 -10 ] )</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  p2dxsonar( pose [ 0.150 -0.080 0 -30 ] )</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  p2dxsonar( pose [ 0.115 -0.115 0 -50 ] )</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  p2dxsonar( pose [ 0.075 -0.130 0 -90 ] )</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;)</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="preprocessor">#  prototype for p2dx sonar sensors</span></div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;<span class="preprocessor"></span>define p3dxsonar sensor</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;(</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  # define the size of each transducer [xsize ysize] in meters</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  size [0.01 0.04]</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  # define the field of view of each transducer [range_min range_max view_angle]</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  view [0.1 5.0 30]  # min (m), max (m), field of view (deg)</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160; )</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;<span class="preprocessor"># The Pioneer3DX sonar array</span></div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;<span class="preprocessor"></span>define p3dx_sonar ranger</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;(</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  p3dxsonar ( pose [ 0.069 0.136 0 90 ] )</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  p3dxsonar ( pose [ 0.114 0.119 0 50 ] )</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  p3dxsonar ( pose [ 0.148 0.078 0 30 ] )</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  p3dxsonar ( pose [ 0.166 0.027 0 10 ] )</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  p3dxsonar ( pose [ 0.166 -0.027 0 -10 ] )</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  p3dxsonar ( pose [ 0.148 -0.078 0 -30 ] )</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  p3dxsonar ( pose [ 0.114 -0.119 0 -50 ] )</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  p3dxsonar ( pose [ 0.069 -0.136 0 -90 ] )</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  p3dxsonar ( pose [ -0.157 -0.136 0 -90 ] )</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  p3dxsonar ( pose [ -0.203 -0.119 0 -130 ] )</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  p3dxsonar ( pose [ -0.237 -0.078 0 -150 ] )</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  p3dxsonar ( pose [ -0.255 -0.027 0 -170 ] )</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  p3dxsonar ( pose [ -0.255 0.027 0 170 ] )</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  p3dxsonar ( pose [ -0.237 0.078 0 150 ] )</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  p3dxsonar ( pose [ -0.103 0.119 0 130 ] )</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  p3dxsonar ( pose [ -0.157 0.136 0 90 ] )</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;)</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;<span class="preprocessor"># The Pioneer3AT sonar array</span></div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;<span class="preprocessor"></span>define p3at_sonar ranger</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;(</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  p3dxsonar ( pose [0.147 0.136 0 90] )</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  p3dxsonar ( pose [0.193 0.119 0 50] )</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  p3dxsonar ( pose [0.227 0.079 0 30] )</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  p3dxsonar ( pose [0.245 0.027 0 10] )</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  p3dxsonar ( pose [0.245 -0.027 0 -10] )</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  p3dxsonar ( pose [0.227 -0.079 0 -30] )</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  p3dxsonar ( pose [0.193 -0.119 0 -50] )</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  p3dxsonar ( pose [0.147 -0.136 0 -90] )</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  p3dxsonar ( pose [-0.144 -0.136 0 -90] )</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  p3dxsonar ( pose [-0.189 -0.119 0 -130] )</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  p3dxsonar ( pose [-0.223 -0.079 0 -150] )</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  p3dxsonar ( pose [-0.241 -0.027 0 -170] )</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  p3dxsonar ( pose [-0.241 0.027 0 170] )</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  p3dxsonar ( pose [-0.223 0.079 0 150] )</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  p3dxsonar ( pose [-0.189 0.119 0 130] )</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  p3dxsonar ( pose [-0.144 0.136 0 90] )</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;)</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;define pioneer_base position </div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;(</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  color &quot;red&quot;           <span class="preprocessor"># Default color.</span></div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;<span class="preprocessor"></span>  drive <span class="stringliteral">&quot;diff&quot;</span>          # Differential steering model.</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  gui_nose 1                    # Draw a nose on the robot so we can see which way it points</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  obstacle_return 1             # Can hit things.</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  ranger_return 0.5             # reflects sonar beams</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  blob_return 1                 # Seen by blobfinders  </div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  fiducial_return 1             # Seen as <span class="stringliteral">&quot;1&quot;</span> fiducial finders</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;  localization <span class="stringliteral">&quot;gps&quot;</span>              </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  localization_origin [0 0 0 0]     # Start odometry at (0, 0, 0).</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  # alternative odometric localization with simple error model</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;<span class="preprocessor">  # localization &quot;odom&quot;                 # Change to &quot;gps&quot; to have impossibly perfect, global odometry</span></div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;<span class="preprocessor"></span><span class="preprocessor">  #  odom_error [ 0.05 0.05 0.1 ]       # Odometry error or slip in X, Y and Theta</span></div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;<span class="preprocessor"></span><span class="preprocessor">                                    # (Uniform random distribution)   </span></div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;<span class="preprocessor"></span></div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;<span class="preprocessor">  # four DOF kinematics limits</span></div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;<span class="preprocessor"></span><span class="preprocessor">  # [ xmin xmax ymin ymax zmin zmax amin amax ]             </span></div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;<span class="preprocessor"></span>  velocity_bounds [-0.5 0.5 0 0 0 0 -90.0 90.0 ]                    </div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;  acceleration_bounds [-0.5 0.5 0 0 0 0 -90 90.0 ]</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;)</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;define pioneer2dx_base_no_sonar pioneer_base</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;(</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  # actual size</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;  size [0.44 0.38 0.22] # sizes from MobileRobots<span class="stringliteral">&#39; web site</span></div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;<span class="stringliteral"></span></div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;<span class="stringliteral">  # the pioneer&#39;</span>s center of rotation is offset from its center of area</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;  origin [-0.04 0 0 0]</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;  # draw a nose on the robot so we can see which way it points</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;  gui_nose 1</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;  # estimated mass in KG</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;  mass 23.0 </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;  # differential steering model</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;  drive <span class="stringliteral">&quot;diff&quot;</span></div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160; )</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;define pioneer2dx_base pioneer2dx_base_no_sonar</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;(</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;  # use the sonar array defined above with a small vertical offset to</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;  # drop the sensors into the robot body</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;  p2dx_sonar( pose [0 0 -0.03 0] ) </div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;)</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;define pioneer2dx_base_front_sonar pioneer2dx_base_no_sonar</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;(</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;  <span class="preprocessor"># use the sonar array defined above with a small vertical offset to</span></div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;<span class="preprocessor"></span><span class="preprocessor">  # drop the sensors into the robot body</span></div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;<span class="preprocessor"></span>  p2dx_sonar_front( pose [0 0 -0.03 0] ) </div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;)</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;define pioneer2dx pioneer2dx_base</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;(  </div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;  # simplified Body shape:</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;  block( </div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    points 8</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    point[0] [-0.2 0.12]</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    point[1] [-0.2 -0.12]</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    point[2] [-0.12 -0.2555]</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;    point[3] [0.12 -0.2555]</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;    point[4] [0.2 -0.12]</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;    point[5] [0.2 0.12]</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;    point[6] [0.12 0.2555]</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;    point[7] [-0.12 0.2555]</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;    z [0 0.22]</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;  )</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;)</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;# as above, but with front sonar only</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;define pioneer2dx_front_sonar pioneer2dx_base_front_sonar</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;(  </div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;  # simplified Body shape:</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;  block( </div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;    points 8</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;    point[0] [-0.2 0.12]</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;    point[1] [-0.2 -0.12]</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;    point[2] [-0.12 -0.2555]</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;    point[3] [0.12 -0.2555]</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;    point[4] [0.2 -0.12]</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;    point[5] [0.2 0.12]</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;    point[6] [0.12 0.2555]</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;    point[7] [-0.12 0.2555]</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;    z [0 0.22]</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;  )</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;)</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;# a Pioneer 2 or 3 in standard configuration</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;define fancypioneer2dx pioneer2dx_base</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;(</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;  # <span class="keyword">this</span> set of blocks approximates the shape of a real Pioneer</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;  #  The geometry is from the Webots v5.3.0 manual. Thanks to Webots</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;  #  and Olivier Michel. If Stage or Gazebo <span class="keywordflow">do</span> not <span class="keywordflow">do</span> what you want,</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;  #  take a look at Webots. It<span class="stringliteral">&#39;s a very nice commercial simulator.</span></div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;<span class="stringliteral"> </span></div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;<span class="stringliteral">  # main body</span></div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;<span class="stringliteral">  block </span></div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;<span class="stringliteral">  (</span></div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;<span class="stringliteral">    points 8</span></div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;<span class="stringliteral">    point[0] [ -0.185 -0.135 ] </span></div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;<span class="stringliteral">    point[1] [  0.095 -0.135 ] </span></div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;<span class="stringliteral">    point[2] [  0.11  -0.08  ] </span></div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;<span class="stringliteral">    point[3] [  0.11   0.08  ] </span></div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;<span class="stringliteral">    point[4] [  0.095  0.135 ] </span></div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;<span class="stringliteral">    point[5] [ -0.185  0.135 ]</span></div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;<span class="stringliteral">    point[6] [ -0.215  0.1   ]</span></div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;<span class="stringliteral">    point[7] [ -0.215 -0.1   ] </span></div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;<span class="stringliteral">    z [ 0.059 0.234 ]</span></div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;<span class="stringliteral">  )</span></div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;<span class="stringliteral"></span></div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;<span class="stringliteral">  # sonar case</span></div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;<span class="stringliteral">  block</span></div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;<span class="stringliteral">  (</span></div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;<span class="stringliteral">    points 9</span></div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;<span class="stringliteral">    point[0]  [ -0.135  0.136 ]</span></div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;<span class="stringliteral">    point[1]  [ -0.185  0.136 ]</span></div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;<span class="stringliteral">    point[2]  [ -0.223  0.101 ]</span></div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;<span class="stringliteral">    point[3]  [ -0.248  0.054 ]</span></div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;<span class="stringliteral">    point[4]  [ -0.258  0     ]</span></div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;<span class="stringliteral">    point[5]  [ -0.248 -0.054 ]</span></div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;<span class="stringliteral">    point[6]  [ -0.223 -0.101 ]</span></div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;<span class="stringliteral">    point[7]  [ -0.185 -0.136 ]</span></div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;<span class="stringliteral">    point[8]  [ -0.135 -0.136 ]</span></div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;<span class="stringliteral">    z [ 0.184 0.234 ]</span></div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;<span class="stringliteral">  )</span></div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;<span class="stringliteral"></span></div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;<span class="stringliteral">  # sonar case</span></div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;<span class="stringliteral">  block</span></div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;<span class="stringliteral">  (</span></div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;<span class="stringliteral">    points 9</span></div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;<span class="stringliteral">    point[0]  [ 0.046 -0.136 ]</span></div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;<span class="stringliteral">    point[1]  [ 0.096 -0.136 ]</span></div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;<span class="stringliteral">    point[2]  [ 0.134 -0.101 ]</span></div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;<span class="stringliteral">    point[3]  [ 0.159 -0.054 ]</span></div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;<span class="stringliteral">    point[4]  [ 0.168  0     ]</span></div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;<span class="stringliteral">    point[5]  [ 0.159  0.054 ]</span></div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;<span class="stringliteral">    point[6]  [ 0.134  0.101 ]</span></div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;<span class="stringliteral">    point[7]  [ 0.096  0.136 ]</span></div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;<span class="stringliteral">    point[8]  [ 0.046  0.136 ]</span></div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;<span class="stringliteral">    z [ 0.184 0.234 ]</span></div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;<span class="stringliteral">  )</span></div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;<span class="stringliteral">  </span></div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;<span class="stringliteral">  # left wheel</span></div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;<span class="stringliteral">  block</span></div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;<span class="stringliteral">  (</span></div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;<span class="stringliteral">    points 4</span></div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;<span class="stringliteral">    point[0] [  0.083  0.177 ]</span></div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;<span class="stringliteral">    point[1] [ -0.083  0.177 ]</span></div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;<span class="stringliteral">    point[2] [ -0.083  0.140 ]</span></div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;<span class="stringliteral">    point[3] [  0.083  0.140 ]</span></div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;<span class="stringliteral">    z [0 0.165 ]</span></div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;<span class="stringliteral">    color &quot;gray15&quot;</span></div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;<span class="stringliteral">  )</span></div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;<span class="stringliteral"></span></div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;<span class="stringliteral">  # right wheel</span></div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;<span class="stringliteral">  block</span></div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;<span class="stringliteral">  (</span></div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;<span class="stringliteral">    points 4</span></div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;<span class="stringliteral">    point[0] [  0.083  -0.14 ]</span></div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;<span class="stringliteral">    point[1] [ -0.083  -0.14 ]</span></div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;<span class="stringliteral">    point[2] [ -0.083  -0.177 ]</span></div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;<span class="stringliteral">    point[3] [  0.083  -0.177 ]</span></div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;<span class="stringliteral">    z [ 0 0.165 ]</span></div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;<span class="stringliteral">    color &quot;gray15&quot;</span></div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;<span class="stringliteral">  )</span></div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;<span class="stringliteral"></span></div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;<span class="stringliteral">  # castor</span></div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;<span class="stringliteral">  block</span></div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;<span class="stringliteral">  (</span></div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;<span class="stringliteral">    points 4</span></div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;<span class="stringliteral">    point[3] [ -0.2475  0.012 ]</span></div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;<span class="stringliteral">    point[2] [ -0.1825  0.012 ]</span></div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;<span class="stringliteral">    point[1] [ -0.1825 -0.012 ]</span></div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;<span class="stringliteral">    point[0] [ -0.2475 -0.012 ]</span></div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;<span class="stringliteral">    z [ 0 0.065 ]</span></div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;<span class="stringliteral">    color &quot;gray15&quot;</span></div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;<span class="stringliteral">  )</span></div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;<span class="stringliteral"> </span></div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;<span class="stringliteral">  # lid</span></div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;<span class="stringliteral">  block</span></div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;<span class="stringliteral">  (</span></div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;<span class="stringliteral">    points 22</span></div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;<span class="stringliteral">    point[21] [  0.174 0 ]</span></div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;<span class="stringliteral">    point[20] [  0.166 -0.056 ]</span></div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;<span class="stringliteral">    point[19] [  0.145 -0.107 ]</span></div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;<span class="stringliteral">    point[18] [  0.112 -0.155 ]</span></div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;<span class="stringliteral">    point[17] [  0.064 -0.190 ]</span></div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;<span class="stringliteral">    point[16] [  -0.074 -0.190 ]</span></div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;<span class="stringliteral">    point[15] [  -0.096 -0.160 ]</span></div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;<span class="stringliteral">    point[14] [  -0.151 -0.160 ]</span></div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;<span class="stringliteral">    point[13] [  -0.2   -0.155 ]</span></div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;<span class="stringliteral">    point[12] [  -0.236 -0.107 ]</span></div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;<span class="stringliteral">    point[11] [  -0.256 -0.056 ]</span></div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;<span class="stringliteral">    point[10] [  -0.264  0     ]</span></div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;<span class="stringliteral">    point[9] [  -0.256  0.056 ]</span></div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;<span class="stringliteral">    point[8] [ -0.236  0.107 ]</span></div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;<span class="stringliteral">    point[7] [ -0.2    0.155 ]</span></div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;<span class="stringliteral">    point[6] [ -0.151  0.160 ]</span></div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;<span class="stringliteral">    point[5] [ -0.096  0.160 ]</span></div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;<span class="stringliteral">    point[4] [ -0.074  0.190 ]</span></div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;<span class="stringliteral">    point[3] [  0.064  0.190 ]</span></div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;<span class="stringliteral">    point[2] [  0.112  0.155 ]</span></div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;<span class="stringliteral">    point[1] [  0.145  0.107 ]</span></div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;<span class="stringliteral">    point[0] [  0.166  0.056 ]</span></div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;<span class="stringliteral">    z [ 0.234 0.24 ]</span></div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;<span class="stringliteral"></span></div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;<span class="stringliteral">    # a dark top looks more realistic, but isn&#39;</span>t very useful </div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;    # <span class="keywordflow">for</span> a top-down view</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;    #color <span class="stringliteral">&quot;gray10&quot;</span></div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;  )</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;)</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;# define 10 straight bumpers around the edge of the robot</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;#</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;# (these angles are correct <span class="keywordflow">for</span> p2dx but the offsets are approximate - RTV)</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;<span class="preprocessor"># format: bumper[x] [x y th length radius] (zero radius gives a straight line)</span></div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;<span class="preprocessor"></span><span class="preprocessor"># WARNING: bumpers are not currently supported by Stage&gt;=1.5</span></div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;<span class="preprocessor"></span><span class="preprocessor"># define pioneer2dxbumper bumper</span></div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;<span class="preprocessor"></span><span class="preprocessor"># ( </span></div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#   bumpers10</span></div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#   bumper[0] [  0.17 -0.22  -52  0.105 0.0 ]</span></div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#   bumper[1] [  0.24 -0.12  -19  0.105 0.0 ]</span></div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#   bumper[2] [  0.26  0.00    0  0.105 0.0 ]</span></div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#   bumper[3] [  0.24  0.12   19  0.105 0.0 ]</span></div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#   bumper[4] [  0.17  0.22   52  0.105 0.0 ]</span></div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#   bumper[5] [ -0.25  0.22  128  0.105 0.0 ]</span></div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#   bumper[6] [ -0.32  0.12  161  0.105 0.0 ]</span></div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#   bumper[7] [ -0.34  0.00  180  0.105 0.0 ]</span></div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#   bumper[8] [ -0.32 -0.12  199  0.105 0.0 ]</span></div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#   bumper[9] [ -0.25 -0.22  232  0.105 0.0 ]</span></div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;<span class="preprocessor"></span><span class="preprocessor"># )</span></div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;<span class="preprocessor"></span></div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;<span class="preprocessor"># The Pioneer3DX standard configuration</span></div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;<span class="preprocessor"></span>define pioneer3dx pioneer_base</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;(</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;  # Actual size</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;  size [0.511 0.4 0.22 ]</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;</div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;  # The pioneer<span class="stringliteral">&#39;s center of rotation is offset from its center of area</span></div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;<span class="stringliteral">  origin [-0.04465 0.0 0.0]</span></div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;<span class="stringliteral"></span></div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;<span class="stringliteral">  # Estimated mass in KG</span></div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;<span class="stringliteral">  mass 23.0 </span></div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;<span class="stringliteral"></span></div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;<span class="stringliteral">  # Body shape:</span></div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;<span class="stringliteral">  block( </span></div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;<span class="stringliteral">    points 8</span></div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;<span class="stringliteral">    point[0] [-0.2 0.12]</span></div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;<span class="stringliteral">    point[1] [-0.2 -0.12]</span></div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;<span class="stringliteral">    point[2] [-0.12 -0.2555]</span></div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;<span class="stringliteral">    point[3] [0.12 -0.2555]</span></div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;<span class="stringliteral">    point[4] [0.2 -0.12]</span></div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;<span class="stringliteral">    point[5] [0.2 0.12]</span></div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;<span class="stringliteral">    point[6] [0.12 0.2555]</span></div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;<span class="stringliteral">    point[7] [-0.12 0.2555]</span></div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;<span class="stringliteral">    z [0 0.22]</span></div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;<span class="stringliteral">  )</span></div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;<span class="stringliteral"></span></div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;<span class="stringliteral">  # Use the sonar array defined above</span></div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;<span class="stringliteral">  p3dx_sonar( pose [ 0 0 -0.03 0 ] )  </span></div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;<span class="stringliteral">) </span></div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;<span class="stringliteral"></span></div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;<span class="stringliteral"># The Pioneer3AT standard configuration</span></div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;<span class="stringliteral">define pioneer3at pioneer_base</span></div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;<span class="stringliteral">(</span></div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;<span class="stringliteral">  # Actual size</span></div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;<span class="stringliteral">  size [0.626 0.505]</span></div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;<span class="stringliteral"></span></div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;<span class="stringliteral">  # The pioneer&#39;</span>s center of rotation is offset from its center of area</div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;  origin [-0.04465 0.0 0.0]</div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;  # Estimated mass in KG</div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;  mass 40.0 </div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;</div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;  # Body shape:</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;  block( </div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;    points 8</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;    point[0] [-0.18 0.313]</div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;    point[1] [0.18 0.313]</div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;    point[2] [0.2525 0.18]</div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;    point[3] [0.2525 -0.18]</div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;    point[4] [0.18 -0.313]</div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;    point[5] [-0.18 -0.313]</div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;    point[6] [-0.2525 -0.18]</div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;    point[7] [-0.2525 0.18]</div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;  )</div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;</div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;  # Use the sonar array defined above</div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;  p3at_sonar( pose [ 0 0 -0.03 0 ] )  </div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;)</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;</div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;</div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;<span class="preprocessor">### AMIGOBOT ####</span></div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;<span class="preprocessor"></span></div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;<span class="preprocessor"># The AmigoBot sonar array</span></div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;<span class="preprocessor"></span>define amigo_sonar ranger</div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;(</div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;  p2dxsonar ( pose [ 0.073 0.105 0 90 ] )</div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;  p2dxsonar ( pose [ 0.130 0.078 0 41 ] )</div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;  p2dxsonar ( pose [ 0.154 0.030 0 15 ] )</div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;  p2dxsonar ( pose [ 0.154 -0.030 0 -15 ] )</div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;  p2dxsonar ( pose [ 0.130 -0.078 0 -41 ]   )</div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;  p2dxsonar ( pose [ 0.073 -0.105 0 -90 ] )</div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;    p2dxsonar ( pose [ -0.146 -0.060 0 -145 ] )</div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;    p2dxsonar ( pose [ -0.146 0.060 0 145 ] )</div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;)</div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;</div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;define amigobot position</div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;(</div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;  size [0.330 0.280 0.25]</div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;  origin [0 0 0 0] <span class="preprocessor"># what should this value be? send email to vaughan@sfu.ca.</span></div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;<span class="preprocessor"></span>  amigo_sonar( pose [0 0 -0.02 0 ] )</div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;)</div>
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